Introducing Matrix<T>::sparse(row,col,data) for sparse matrices in triplet format
Fixes #312: exploiting block structure in jacSparsity
Function names in DirectSingleShooting
Cleanup of NLPSolver base class
Default Jacobian in DirectSingleShooting
Added warning for inefficient calculations in Derivative class
Added FX::evaluateCompressed for automatic elimination of all-zero derivative directions in evaluate
Added functionality to calculate directional derivatives via creating a Jacobian and then multipying
Fixed bug in DirectSingleShooting